Manipulator



E. E. BROSIUS Oct. 4, 1932.

MANIPULATOR Filed June 25, 1931 5 Sheets-Sheet 1 INVENTOR m 0. amp gwa Mfiwag;

E. E4 BROSIUS MANIPULATOR Oct, 4, 1932.

Filed June 25, 1931 5 $heets-Sheet 2 INVENTOR E' E. BROSIUS Oct. 4,1932.

MANIPULATOR l Filed June 23,

1931 5 Sheets-Sheet 3 wow, 5% QN N RN E. E. BROSIUS Oct. 4, 1932.

MANIPULATOR Filed June 23, 1951 5 Sheets-Sheet 4 WV TOR (Q Oct. 4, 1932.E, BRQSIUS 1,881,169

MANIPULATOR Filed June 25, 1951 5 Sheets-Sheet 5 ,figrll.

Patented Oct. 4, 1932 EDGAR BROSIUS, O1! PITTSBURGH, PENNSYLVANIAMANIPULATOR Application filed June 23, 1931. Serial No. 546,284.

The present invention relates broadly to the art of metal working, andmore particularly to improved machines effective for the handling andmanipulating of bars, billets, ingots and other shapes and articlesduring the performance of a forging operation thereon.

In the art to which the present invention relates it is customary at thepresent time to provide different forms of equipment and apparatuseffective for the handling and manipulating of articles while sub ectedto a forging operation under a forging harnmer. Such apparatus orequipment as now available, while generally satisfactory for thepurposes intended,- is not of such flexible operating characteristicsasto permit the obtaining of the fullest advantages therefrom. e

The present invention has for one of its objects the provision of aportable manipulator adapted to move universally over a floor surface ormill surface for transport ing articles to be forged from any desiredpoint to the forging machine, and for handling and manipulating the sameduring the forging operation.

In the accompanying drawings I have shown for purposes of illustrationonly, one embodiment of a machine constructed in accordance with thepresent invention. In the drawings:

Figure 1 is a partial side elevational view off'the manipulatorconstructed in accord- 85 ance with the present invention;

Figure 2 is a top plan view of the structure illustrated in Figure 1;

Figure 3 is anenlarged view, in plan, partly broken away, of a portionof the structure shown in igure 2;

Figure 4 is a detail sectional view along the line IVIV of Figure 3;

Figure 5 is a side elevational view, on an enlarged scale, of a portionof the manipulator shown in Figures 1 and 2;

Figure 6 is a top plan view of the structure shown in Figure 5; V

Figure 7 is a detail sectional view on the line VII-VII of Figure 5,looking in the direction of the arrows;

Figure 8 is a detail sectional view on an enlarged scale through theinner and outer flange springs Figure 9 is an end elevational view ofone of the peel flanges;

Figure 10 is a detail sectional view along the line XX of Figure 9;

Figure 11 is a detail sectional view on an enlarged scale through aportion of the main frame and the peel elevating cylinder; and

Figure 12 is a front elevational structure shown in Figure 11.

present invention, there is provided a main frame In accordance with theview of the 2 of generally elongated narrow contour constructed toreceive floor engaging wheels 3 at its forward end. At its opposite endthere is provided a combined steering and tractionwheel fadapted to bedriven by a motor 5 and steered by a suitable control 6 in the desiredrelation to an operators seat 7 The operators seat is convenientlymounted between spaced rearwardly extending arms 8 secured to andproject- 1ng rearwardly from the main frame.

The

seat and operator thus serve to some extent as a counterbalancing meansfor the entire structure as will be hereinafter more fully apparent. Atthe front of the main frame 2 there is provided a bearing 9substantially in .the vertical plane of the axis of rotation of thewheels 3. This pivotal mounting may be utilized as a support for a peelstructure 10.

In the illustrated embodiment, vpeel structure is shown as having apivotal however, the

mounting 11 on the upper end of a piston rod 12 carried by a piston 14in a fluid pressure cylinder 15. Thus by admitting fluid under pressureto the lower end of the cylinder, hereinafter referred to as a peelelevating cylinder, the

plane of operation of the peel may be changed, thus adapting it forcooperation with hammers or forging presses of different types andsizes.

In addition to being able to change the horizontal plane of the peel,means is preferably provided for rocking it about its pivotal mounting11. This means is herein illus trated as comprising a peel tiltincylinder 16 m which is mounted a piston the piston rod 17 of which hasnot shown), a pivotal conits nection 18 with the rear end of the peelstructure. By supplyin fluid under pressure to the opposite ends 0 thepeel tilting cylinder, the peel structure may be bodily rocked about itspivotal mounting 11.

Extending through the peel structure is a peel 19 provided adjacent itspivotal mounting with an anti-friction bearing 20, as illustrated indetail in Figure 4. Adjacent the rear end of the peel, there is a secondantifriction mounting 21, these anti-friction mountings providing spacedbearings in which the peel is rotatable. Rotation is obtained bysecuring to the peel a gear 22 adapted to be driven by a motor 23through a suitable gear train 24 (Figure 3). The motor 23 is preferablyof the reversible type whereby rotation may be had at will in eitherdirection for effecting corresponding rotation of the peel.

In front of the bearing 20 the peel terminates in a flange 25, whichflange is formed on its forward face with a recess 26, the flange beingprovided with a peripheral series of o enings 27. Adapted to cooperatewith the ange 25 and constitute a continuation of the peel is a peelsection 28. This peel section comprises oppositely disposed flanges 29and 30 on its opposite ends, reinforced by ribs 31 and 32, the ribsbeing so disposed as to provide a series of radially opening springreceiving pockets. The flange 29 is formed with a peripheral series ofopenings adapted to aline with the openings 27 in the flange 25 topermit the passage through the alined openings of bolts 33, which boltsare provided with inner and outer flange springs 34 and 35 respectively,as shown in detail in Figure 8, the spring nests being located in thepockets formed intermediate the ribs 31.

By reference to the drawings, it will be apparent that the outer facesof the flanges 29 and 30 are cut away, thus providing a peripheralrecess 36 between the flanges. Theflange 29 is also formed with aprojection 37 adapted to enter the recess 26 and provide an engagementbetween the flanges which will preclude relative lateral movementtherebetween, while permitting rocking movement to the extent permittedby the peripheral recess 36. The ease of this rocking movement iscontrolled by the degree of compression exerted on the spring nests bythe nuts 38 on the bolts 33.

Beyond the peel section 28 is a tongs head '39 provided with a flange 40adapted to cooperate with the flange 30, and provide there with anarticulate spring controlled joint similar to that provided between theflanges 25 and 29. It is thus apparent that there is provided a peel ofarticulated construction composed of three main sections the relativemovement between which is controlled by spring nests, the effectivepressure of which may be varied at will. The joints each provide arocking movement, thus permitting the tong head to assume differentangular positions regardless of the adjustment of the peel itself. Inaddition to this, the springs serve as shock absorbing means preventingthe transmission of damaging shocks to the main frame.

Carried by the tongs head 39 are tongs 41 carryingsuitable jaws 42adapted to grip an article 43 to be forged. The tongs have pivotalmountings 44 in the tongs head 39 and are operated through angularextensions or arms 45 through which passes a pin 46 for interconnectingthe tongs to a clevis 47. The clevis 47 is in turn connected to anaxially extending tongs rod 48 by a clevis key 49. The tongs rod 48extends rearwardly through the peel 19 and is provided with a flexiblejoint connection 50 with a tongs operating piston rod 51 carried bypiston 52 in a tongs operating cylinder 53. By supplying fluid to thetongs operating cylinder 53 at the left hand end thereof as Viewed inFigure 4, the piston 52 will be caused to assume its full line position,thus advancing the tongs operating rod and swinging the tongs 41 to openposition, while upon supplying fluid under pressure to the opposite endof the cylinder 53, the tongs will be held in gripping engagement withthe article to be mani ulated.

By reference more particularly to igures 2 and 3 of the drawings, itwill be noted that the cylinder 53 is secured to the peel frame 10 bypins 54 extending through suitable bosses 55 on the cylinder 53 andsecured in similar bosses 56 on the peel frame. Cooperating with thetongs operating cylinder is a compensator or accumulator 57 effectivefor maintaining a total pressure within the tongs operating cylinderwhich cannot fall below the pressure exerted by the compensating spring58. In this manner firm engagement between the tongs and the articleengaged thereby is insured at all times, irrespective of gradual leakageof fluid past the piston 52.

In order that the structure may be truly portable, itis preferablyprovided with its own power generating means for operating the peelelevating motor, the peel tilting motor and the tongs operating motor.This may be obtained by mounting on the main frame 2 a motor 59operatively connected to the shaft 60 of a fluid pressure pump 61adapted to receive its supply of fluid from a reservoir 62 and deliverthe same to the respective motors or cylinders as controlled by one ormore valves 63. The construction in this respect is preferably similarto that described and claimed in my co-pending application Serial No.451,047 filed May 9, 1930, and constitutes no essential part ofthepresent invention. 7

From the foregoing description taken in connection with the drawings, itwill be apparent that I have provided a mani ulator which is universallymovable over a oor or other surface under the full control of anoperator riding on the structure itself. It is thus possibleto utilizethe manipulator without special tracks or the like, and thereby possibleto move the truck without restriction from one point to another, thusproviding a structure which may be utilized for removing an ingot,billet, bar or the like di rectly from the furnace, and carrying it to apress or hammer, and for supporting the article while it is subjected toforging.

Inasmuch as the article may be freely rotated, elevated or tilted, itmay be easily and quickly moved to the desired position with respect tothe press or hammer. The articulated peel structure prevents thetransmission of shocks of a detrimental nature to the main frame and theoperating units mounted thereon, and insures such a flexibility betweenthe peel 19 and the tongs head 39 as to permit the article being forgedto rest firmly on the bed or anvil of the press or hammer. The universalmovability of the manipulator together with the flexibility of itsoperation and control, constitute advantages of the present invention.

While I have herein illustrated and described certain preferredembodiments of the invention, it will be understood that changes may bemade in the construction and operation of the parts without departingeither from the spirit of the invention or the scope of my broaderclaims.

I claim:

' 1. In a manipulator, a floor supported vehicle, a sectionalarticulated material handling peel mounted thereon, and yielding meansnormally maintaining the sections of said peel in substantially axialalinement.

2. In a manipulator, a floor supported vehicle, articulated materialhandling peel pivotally mounted thereon, and yielding means normallymaintaining the sections of said peel in substantially axial alinement.

3. In a manipulator, a. floor supported vehicle, and a peel mountedthereon for supporting the material to be manipulated, said peel havinga plurality of articulations therein each of the articulationscomprising a substantially universally movable connection.

4. In a manipulator, a floor supported vehicle, and a peel mountedthereon for sup porting the material to be manipulated, said peel havinga plurality of spring controlled articulations therein.

5. In a manipulator, a floor supported ve hicle, and a pivotally mountedpeel thereon for supporting the material to be manipulated, said peelhaving a plurality of articulations therein, each articulationpermitting movement in a plurality of directions substantially normal tothe peel axis.

6. In a manipulator, a floor supported vehide, and a pivotally mountedpeel thereon for supportin the material to be manipulated, said peehaving a plurality of sprmg controlled articulations therein.

7. In a manipulator, a floor supported vehicle, means for propelling andsteering the same over a floor surface, an articulated peel carriedthereby, and means for angularly and vertically adjusting said peel.

8. In a manipulator, a floor su ported vehicle, an articulated peelcarried t ereby, and naeanslfor vertically adjusting said articulate pee9. In a manipulator, a floor sup orted vehicle, an articulated peelcarrie thereby, said peel comprising a plurality of relatively movablesections having axial alining means formed thereon, and means forangularly adjusting said articulated peel.

10. In a manipulator, a floor supported vehicle, an articulated peelcarried thereby, and means for vertically and angularly adjusting saidarticulated peel.

11. In a manipulator, a floor supported vehicle, an articulated peelcarried thereby,

and means for vertically adjustin said articulated peel, there beingmeans or rotating said peel.

12. In a manipulator, a floor supported vehicle, an articulated peelcarried thereby, and means for angularly adj ustin said articulatedpeel, there being means or rotating said peel.

13. In a manipulator, a floor supported vehicle, an articulated peelcarried thereby, and means for verticall and an larl adjusting saidarticulate peel, t ere eing means for rotating said peel.

14. In a mani ulator, a floor vehicle, a peel carried there y andcomprising a plurality of alined sections, spring controlled artic;ulations between such sections, material holding means carried by one ofsaid sections, and means for operating said holding means.

15. In a manipulator, a floor vehicle, a peel carried thereby andcomprising a plurality of alined sections, spring controlledarticulations between such sections, material holding means carried byone of said sections, and means for operating said holding means, therebeing means for bodily elevating said peel.

16. In a mani ulator, a floor vehicle, a peel carried there y andcomprising a plurality of alined sections, spring controlledarticulations between such sections, material holding means carried byone of said sections, and means for operating said holding means, therebeing means for angularly adjusting said peel.

17. In a mani ulator, a floor vehicle, a peel carried there y andcomprising a plurality of alined sections, spring controlledarticulations between such sections, material holding means carried byone of said sections, and means for operating said holding means therebeing means for vertically elevating and angularly adjusting said peel.

18. In a manipulator, a floor supported vehicle, and a. peel carriedthereby, said peel comprising a relatively rigid rear section, a

Bivotal support for said section, and an overung sectlon having anarticulation formed therein.

19. In a manipulator, a movable supporting vehicle, and a peel mountedthereon for carrying the material to be mani ulated, said peel includinga s ring control ed articulation intermediate t e ends thereof.

In testimony whereof I have hereunto set my hand.

. EDGAR E. BROSIUS.

